Dynamic modeling for silicone beams using higher-order ANCF beam elements and experiment investigation

Guo

et al. 2022

Nonlinear Dyn

Compared with traditional linear elastic materials, the soft structure composed of incompressible hyperelastic materials has not only geometrical nonlinearity but also material nonlinearity during deformation. In this paper, the absolute nodal coordinate formulation (ANCF) is used to study the large deformations and large overall motions of incompressible hyperelastic curved beams. A novel large deformation dynamic modeling method for curved beams made of hyperelastic materials is proposed, in which a simplified Neo-Hookean model is combined with the onedimensional ANCF beam element. The elastic force vector is calculated according to the exact expression of curvature. The dynamic equations are derived by using the virtual work principle. The dynamic responses of a cantilever silica gel beam under gravity are calculated based on the present method and compared with those of the improved low-order beam element (ILOBE), high-order beam element (HOBE), and commercial finite element analysis software (ANSYS). Simulation results show that the proposed method can accurately describe the large deformation and large overall motion of the beam, and has better computational efficiency. Research in this paper provides an efficient dynamic model for the dynamics analysis of soft robot arms.

Section: Dynamic Simulation Of the Straight Cantilever Beammentioning

confidence: 99%

Section: Dynamic Simulation Of the Straight Cantilever Beammentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Large deformations of hyperelastic curved beams based on the absolute nodal coordinate formulation

Guo

et al. 2022

Nonlinear Dyn

“…The body structure of the pneumatic soft-bodied bionic actuator needs to have certain strength and flexibility. Deficiency in hardness results in overly soft structure, and consequently insufficient strength, and poor execution force, On the other hand, excessive hardness results in brittleness, making the structure easy to fracture [ 42 – 44 ]. Therefore, the room temperature-vulcanized silica gel with shore A20 hardness was selected.…”

Section: Numerical Simulation Algorithm Verification and Physical mentioning

confidence: 99%

Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Actuator

Zhao

Applied Bionics and Biomechanics

2021

The design of a pneumatic soft-bodied bionic actuator derives from the structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel, which can improve the mobility and environmental adaptability of soft-bodied bionic robots. Based on Yeoh’s second-order constitutive model of silica gel, the deformation analysis model of the actuator is established, and the rationality of the structure design and motion forms of the actuator and the accuracy of the deformation analysis model are verified by using the numerical simulation algorithm. According to the physical model of the pneumatic soft-bodied bionic actuator, the motion and dynamic characteristics of the actuator are tested and analyzed, the curves of motion and dynamic characteristics of the actuator are obtained, and the empirical formula of the bending angle and driving torque of the actuator is fitted out. The results show that the deformation analysis model and numerical simulation method are accurate, and the pneumatic soft-bodied bionic actuator is feasible and effective, which can provide a design method and reference basis for the research and implementation of soft-bodied bionic robot actuator.

“…Among them, the pressure range inside of the cavity is 40 kpa to 180 kpa. e main devices of the experiment include pneumatic soft-bodied bionic basic execution unit (unidirectional and bidirectional), pneumatic pump, electromagnetic reversing valve, pressure regulating valve, bending sensor, Arduino plate, and computer and force measuring test platform [47][48][49][50]; see Figure 5.…”

Section: Experimental Test and Analysismentioning

confidence: 99%

Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit

Zeng

Zhao

et al. 2020

Journal of Robotics

This paper studies the design of pneumatic soft-bodied bionic basic execution unit with soft-rigid combination, which can be used as an actuator for pneumatic soft-bodied robots and soft-bodied manipulators. This study is inspired by structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel and the insertion of thin leaf spring structure in the nonretractable layer. Response surface analysis and numerical simulation algorithm are used to determine the optimal combination of structural dimension parameters by taking the maximum output bending angle of the basic executing unit as the optimization objective. Based on Odgen’s third-order constitutive model, the deformation analysis model of the basic execution unit is established. The physical model of pneumatic soft-bodied bionic basic execution unit is prepared through 3D printing, shape deposition, soft lithography, and other processing methods. Finally, the motion and dynamic characteristics of the physical model are tested through experiments and result analysis, thus obtaining curves and empirical formulas describing the motion and dynamic characteristics of the basic execution unit. The relevant errors are compared with the deformation analysis model of the execution unit to verify the feasibility and effectiveness of the design of the pneumatic soft-bodied bionic basic execution unit. The above research methods, research process, and results can provide a reference for the research and implementation of pneumatic and hydraulic driven soft-bodied robots and grasping actuators of soft-bodied manipulators.